ROS常用库（四）API学习之常用common_msgs（下）

一、前言

　　承接ROS常用库（三）API学习之常用common_msgs（上）。

二、sensor_msgs

1、sensor_msgs / BatteryState.msg

 ＃电源状态
 uint8 POWER_SUPPLY_STATUS_UNKNOWN=
 uint8 POWER_SUPPLY_STATUS_CHARGING=
 uint8 POWER_SUPPLY_STATUS_DISCHARGING=
 uint8 POWER_SUPPLY_STATUS_NOT_CHARGING=
 uint8 POWER_SUPPLY_STATUS_FULL=
 ＃电量
 uint8 POWER_SUPPLY_HEALTH_UNKNOWN=
 uint8 POWER_SUPPLY_HEALTH_GOOD=
 uint8 POWER_SUPPLY_HEALTH_OVERHEAT=
 uint8 POWER_SUPPLY_HEALTH_DEAD=
 uint8 POWER_SUPPLY_HEALTH_OVERVOLTAGE=
 uint8 POWER_SUPPLY_HEALTH_UNSPEC_FAILURE=
 uint8 POWER_SUPPLY_HEALTH_COLD=
 uint8 POWER_SUPPLY_HEALTH_WATCHDOG_TIMER_EXPIRE=
 uint8 POWER_SUPPLY_HEALTH_SAFETY_TIMER_EXPIRE=
 ＃电源技术（化学）常数
 uint8 POWER_SUPPLY_TECHNOLOGY_UNKNOWN=
 uint8 POWER_SUPPLY_TECHNOLOGY_NIMH=
 uint8 POWER_SUPPLY_TECHNOLOGY_LION=
 uint8 POWER_SUPPLY_TECHNOLOGY_LIPO=
 uint8 POWER_SUPPLY_TECHNOLOGY_LIFE=
 uint8 POWER_SUPPLY_TECHNOLOGY_NICD=
 uint8 POWER_SUPPLY_TECHNOLOGY_LIMN=
 std_msgs/Header header
 float32 voltage电压
 float32 current
 float32 charge充入的电量
 float32 capacity容量
 float32 design_capacity
 float32 percentage充电百分比0-
 uint8 power_supply_status 充电状态
 uint8 power_supply_health电池运行状况
 uint8 power_supply_technology电池化学成分
 bool present如果存在电池则为true
 float32[] cell_voltage单个电池数组电压
 string location电池插入位置
 string serial_number电池序列号

2、sensor_msgs/Imu.msg

 std_msgs/Header header
 geometry_msgs/Quaternion orientation
 float64[] orientation_covariance
 geometry_msgs/Vector3 angular_velocity
 float64[] angular_velocity_covariance
 geometry_msgs/Vector3 linear_acceleration
 float64[] linear_acceleration_covariance

3、sensor_msgs/JointState.msg机器人关节

 std_msgs/Header header
 string[] name
 float64[] position
 float64[] velocity
 float64[] effort

5、sensor_msgs/Joy.msg手柄

 std_msgs/Header header
 float32[] axes#轴
 int32[] buttons#按键

6、sensor_msgs/LaserScan.msg

 std_msgs/Header header
 float32 angle_min #起始角
 float32 angle_max #结束角
 float32 angle_increment #测量角
 float32 time_increment #测量时间插值
 float32 scan_time
 float32 range_min
 float32 range_max
 float32[] ranges
 float32[] intensities #强度

7、sensor_msgs/MultiDOFJointState.msg

 std_msgs/Header header
 string[] joint_names
 geometry_msgs/Transform[] transforms
 geometry_msgs/Twist[] twist
 geometry_msgs/Wrench[] wrench

8、sensor_msgs/NavSatFix.msg

 uint8 COVARIANCE_TYPE_UNKNOWN=
 uint8 COVARIANCE_TYPE_APPROXIMATED=
 uint8 COVARIANCE_TYPE_DIAGONAL_KNOWN=
 uint8 COVARIANCE_TYPE_KNOWN=
 std_msgs/Header header
 sensor_msgs/NavSatStatus status
 float64 latitude#纬度
 float64 longitude#经度
 float64 altitude#海拔
 float64[] position_covariance
 uint8 position_covariance_type

9、sensor_msgs/PointCloud

 std_msgs/Header header
 geometry_msgs/Point32[] points
 sensor_msgs/ChannelFloat32[] channels

10、sensor_msgs/PointCloud2.msg

 std_msgs/Headerheader
 uint32 height
 uint32 width
 sensor_msgs/PointField[]fields
 bool is_bigendian
 uint32 point_step
 uint32 row_step
 uint8[] data
 bool is_dense

二、shape_msgs

1、shape_msgs/Mesh.msg

 shape_msgs/MeshTriangle[] triangles
 geometry_msgs/Point[] vertices

2、shape_msgs/MeshTriangle.msg

 uint32[] vertex_indices

3、shape_msgs / Plane.msg

 Float64 [] coef #使用平面方程ax + by + cz + d = 0表示平面 abcd分别为下标0123

4、shape_msgs / SolidPrimitive.msg

 uint8 BOX=
 uint8 SPHERE=
 uint8 CYLINDER=
 uint8 CONE=
 uint8 BOX_X=
 uint8 BOX_Y=
 uint8 BOX_Z=
 uint8 SPHERE_RADIUS=
 uint8 CYLINDER_HEIGHT=
 uint8 CYLINDER_RADIUS=
 uint8 CONE_HEIGHT=
 uint8 CONE_RADIUS=
 uint8 type
 float64[] dimensions

三、trajectory_msgs

1、trajectory_msgs/JointTrajectory.msg

 std_msgs/Header header
 string[] joint_names
 trajectory_msgs/JointTrajectoryPoint[] points

2、trajectory_msgs/JointTrajectoryPoint.msg

 float64[] positions
 float64[] velocities
 float64[] accelerations
 float64[] effort
 duration time_from_start

3、trajectory_msgs/MultiDOFJointTrajectory.msg

 std_msgs/Header header
 string[] joint_names
 trajectory_msgs/MultiDOFJointTrajectoryPoint[] points

4、trajectory_msgs/MultiDOFJointTrajectoryPoint.msg

 geometry_msgs/Transform[] transforms
 geometry_msgs/Twist[] velocities
 geometry_msgs/Twist[] accelerations
 duration time_from_start

四、visualization_msgs

1、visualization_msgs/Marker.msg

 uint8 ARROW=
 uint8 CUBE=
 uint8 SPHERE=
 uint8 CYLINDER=
 uint8 LINE_STRIP=
 uint8 LINE_LIST=
 uint8 CUBE_LIST=
 uint8 SPHERE_LIST=
 uint8 POINTS=
 uint8 TEXT_VIEW_FACING=
 uint8 MESH_RESOURCE=
 uint8 TRIANGLE_LIST=
 uint8 ADD=
 uint8 MODIFY=
 uint8 DELETE=
 uint8 DELETEALL=
 std_msgs/Header header
 string ns
 int32 id
 int32 type
 int32 action
 geometry_msgs/Pose pose
 geometry_msgs/Vector3 scale
 std_msgs/ColorRGBA color
 duration lifetime
 bool frame_locked
 geometry_msgs/Point[] points
 std_msgs/ColorRGBA[] colors
 string text
 string mesh_resource
 bool mesh_use_embedded_materials

其他运动相关msg基本都与它相关。